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Heat the olive oil in a skillet (*see note) over medium heat. Add in the diced onion and cook until softened.
Add in the ground beef and continue cooking until browned. Add in the garlic and cook for 1 more minute.
Stir in the taco seasoning, rice, broth, and salsa. Bring the mixture up to a boil and then cover and reduce heat to low. Cook for 15 – 20 minutes, or until the liquid is absorbed and the rice is tender, stirring occasionally so rice doesn’t stick.
Sprinkle in the cheese and cilantro and stir to combine. Remove the skillet from the heat, cover and let sit for 2 minutes for the cheese to melt. Season with salt and pepper if desired.
Serve immediately with desired toppings.